Articulated robotic arms for robotic baggage inspection and swabbing

ABSTRACT

Systems and methods are described, and an example system includes a transport bin configured to carry a baggage item and having spatial reference frame marking detectable by electromagnetic scan and by machine vision. The system includes a robotic arm apparatus at an inspection area, and includes a switched path baggage conveyor that, responsive to electromagnetic scan detection of an object-of-interest (OOI) within the baggage item, conveys the transport bin to the inspection area. The electromagnetic scan generates OOI geometric position information indicating geometric position of the OOI relative to the spatial reference frame marking. The robotic arm apparatus, responsive to receiving the transport bin, uses machine vision to detect orientation of the spatial reference frame marking, then translates OOI geometric position information to local reference frame, for robotic opening of the baggage item, and robotic accessing and contact swab testing on the OOI.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. non-provisional patentapplication Ser. No. 17/590,456, filed Feb. 1, 2022, entitled “RoboticResolution of Scanning Alarms,” which is a continuation of U.S.non-provisional patent application Ser. No. 17/372,050, filed Jul. 9,2021, entitled “System and Method for Robotic Resolution of Scan Alarm,”which is a non-provisional that claims the benefit of priority to U.S.Provisional Patent Application No. 63/139,204, filed Jan. 19, 2021,entitled “System and Method for Robotic Resolution of Scan Alarm,” thedisclosures of all of which are hereby incorporated by reference intheir entireties.

STATEMENT OF GOVERNMENT INTEREST

The present invention was made by employees of the United StatesDepartment of Homeland Security in the performance of their officialduties. The U.S. Government has certain rights in this invention.

FIELD

Embodiments disclosed herein generally relate to electromagneticscreening and inspection.

BACKGROUND

For public safety, security procedures at airports include screening ofcheck-in baggage for weapons, explosives, and other prohibited items.When the scanning detects in a baggage item one or more objects that maybe or pertain to explosives or other hazardous materials, securityspecialists, such as Bomb Appraisal Officers (BAOs) are notified andtake steps to handle the safety issue. Certain tasks in the handling canimpose schedule and availability burdens on BAOs.

SUMMARY

For a system, an example implementation can include a system for roboticarm resolution of baggage scanning alarm generated by electromagneticscanner, and can include a transport bin, which can be configured forcarrying a baggage item, and can include a spatial reference framemarking that can be detectable by electromagnetic scanning and bymachine vision. The example implementation can include robotic baggageitem opening and inspection apparatus, which can be configured to apply,responsive to receiving the transport bin in combination with an OOIgeometric position information indicative of a geometric position of theOOI relative to the spatial reference frame marking, a robotic openingoperation to the baggage item. The robotic baggage item opening andinspection apparatus, can be configured to perform, in response to apositive result of the robotic opening operation, a robotic accessingand swabbing operation directed to the OOI, which can be based at leastin part on a combination of the OOI geometric position information and amachine vision detection of the spatial reference frame marking.

For a method, an example implementation can include a method forreceiving from an electromagnetic scanning a transport bin and anobject-of-interest (OOI) geometric position information, the transportbin carrying a baggage item and including a machine readable marking ofa spatial reference frame, the OOI geometric position informationindicating a detected geometric position, by the electromagneticscanning, of the OOI in reference to the machine readable marking of thespatial reference frame. The example implementation can include, inresponse to the receiving: machine vision detecting of the spatialreference frame marking, resolving the spatial reference frame markinginto a local spatial reference frame, the local spatial reference framebeing local to the robotic accessing and swabbing operation, andtranslating the OOI geometric position information to a local OOIgeometric position map, based at least in part on a result of theresolving. The example implementation can further include applying arobotic opening operation to the baggage item, and upon a positiveresult of the robotic opening operation: performing a robotic accessingand swabbing operation directed to the OOI, based at least in part onthe local OOI geometric position map.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a block diagram of one example of a system for roboticresolution of baggage scanning alarm in accordance with variousembodiments.

FIG. 2 illustrates example structure and related features of a roboticarm device in accordance with various embodiments, providing roboticinspection of objects-of-interest (OOI) within a content of a baggageitem, using novel structure transport bin.

FIG. 3A shows an example robotic arm device positioning for a roboticopening of a baggage item zipper, in a process for robotic resolution ofscan alarm in accordance with various disclosed embodiments; FIG. 3B isa diagram of an example movement trajectory of a robotic arm gripper andzipper pull in the robotic opening; and FIG. 3C shows an examplemovement completion position.

FIG. 4 shows a flow diagram of operations in an example robotic processon the FIG. 1 system, including scan alarm triggered transport of abaggage item, robotic opening the baggage item, accessing and swabbingan OOI, in accordance with various disclosed embodiments.

FIG. 5 shows a flow diagram of operations in a robotic process inopening a zipper of a baggage item in a robotic resolution of scanalarms in accordance with various disclosed embodiments.

FIG. 6 shows a flow diagram of various operations in a robotic processof accessing and swabbing one or more OOIs in an alarm triggeringbaggage item, and submitting swabs for explosive trace detection (ETD),in robotic resolution of scan alarms in accordance with variousdisclosed embodiments.

FIG. 7 shows a functional block diagram of a further embodiment of asystem for robotic resolution of baggage scanning alarm in accordancewith various disclosed embodiments.

FIG. 8 illustrates, in simplified schematic form, a computing system onwhich aspects of the present disclosure can be practiced.

DETAILED DESCRIPTION

In the drawings, like reference numerals designate identical orcorresponding parts throughout the several views. The drawings aregenerally not drawn to scale unless specified otherwise or illustratingschematic structures or flowcharts. As used herein, the words “a,” “an”and the like generally carry a meaning of “one or more,” unless statedotherwise.

Description includes references to airport facilities and operations, asairports are an example environment in which embodiments according tothis disclosure can be practiced. This is not intended as any limitationas to applications or environments in which embodiments in accordancewith this disclosure can be practiced.

One embodiment of a robotic alarm resolution system can include arobotic baggage access and content sampling apparatus configured toreceive, through an alarm-switched baggage conveyor, alarm-generatingX-ray scanned baggage items from an X-ray baggage content scanner. In anaspect. alarm-generating X-ray scanned baggage items can be baggageitems that the X-ray baggage content scanner detected as having objectsexhibiting X-ray absorption characteristics of one or more explosives,or explosive-related materials or substances, or other materials ofinterest. Such objects will be referenced, for purposes of description,as “objects-of-interest,” which will be interchangeably recited as“OOI.” For purposes of description, the alarm-generating X-ray scannedbaggage items will be alternatively referenced as “suspect baggageitems.”

According to various embodiments. the robotic baggage access and contentsampling apparatus can be configured receive, in association with eachsuspect baggage item, an OOI map, indicating the geometric position ofOOIs detected in the suspect baggage item. The OOI map can be generated,for example, by an X-ray scan analyzer associated with the X-ray baggagecontent scanner.

The robotic baggage access and content sampling apparatus can includeone or more articulated robotic arms, which can be communicativelyconnected to a robotic controller. The one or more articulated roboticarms can be arranged to operate in a robotic inspection area, which maybe a particularly constructed, not publicly accessible area. The roboticalarm resolution system can be configured to apply, through the one ormore articulated robotic arms, a robotic alarm resolution process toreceived suspect baggage items. The robotic alarm resolution process caninclude robotic opening, e.g., unzipping the baggage item, swiping oneor more OOIs, and inserting the swab to an explosive trace detection(ETD) system.

The alarm-switched baggage conveyor can be configured to switch,dependent on whether the baggage content scan analyzer generates thealarm, between conveying the baggage item on a first, or non-alarmbaggage transport path and or on a second, or alarm resolution baggagetransport path. The alarm resolution baggage transport path can deliverthe baggage item to the robotic inspection area. The non-alarm baggagetransport path can deliver the baggage item to a designated area, e.g.,for traveler pick-up or loading onto an airplane. For purposes ofdescription, the designated area can be referenced as a “cleared baggagepick-up area.”

In an embodiment, baggage items can be X-ray scanned and switchablytransported to one of the cleared baggage pick-up area and the roboticinspection area within particularly configured baggage transport bins.In one or more embodiments, the particularly configured baggagetransport bins can include machine vision detectable reference axismarkings. For purposes of description, the recitation “particularlyconfigured baggage transport bins” will be alternatively recited withthe abbreviated form “PCF baggage transport bins.” In an embodiment, thescan analyzer can be configured to generate OOI maps with geometricpositions, e.g., 2D or 3D positions, of the OOIs defined in terms of thereference axes of the PCF baggage transport bins. In embodiments, therobotic baggage access and content sampling apparatus can be configuredwith a local spatial reference frame of local reference axes, and“local” can be local to the robotic baggage access and content samplingapparatus. In various embodiments, the robotic baggage access andcontent sampling apparatus can be further configured to machine visionread the machine vision detectable reference axis markings of the PCFbaggage transport bins. The robotic baggage access and content samplingapparatus can be configured to determine, associated with the machinevision reading, an orientation of the machine vision detectablereference axis markings in relation to the local reference axes. Invarious embodiments, the robotic baggage access and content samplingapparatus can be further configured to translate the received OOI map,upon reading and determining the orientation of the machine visiondetectable reference axis markings, to the local spatial referenceframe. For purposes of description, a result of the translation will bereferred to as a “translated OOI map.” It will be understood that therecitation “translated OOI map” as used herein has no intrinsic meaning;the recitation is a reference to the OOI geometric position informationcarried by the received OOI, translated to the local reference axes.Novel features including, for example, the transport bin's referenceaxis markings, readable by X-ray scan and by machine vision, X-rayscanning generation of the OOI map referencing the, combined withmachine vision reading and corresponding determining of the orientationof the transport bin's reference axis markings, and associatedtranslation of the OOI map to the translated OOI map, can providevarious further technical benefits. Such technical benefits include, butnot are limited to, substantial reduction of time wasted, and of baggagecontent unnecessarily shifted around, due to non-productive movement ofrobotic arms.

FIG. 1 shows a simplified diagram of one embodiment of a system 100(hereinafter “system 100”) for robotic resolution of scan alarms inaccordance with this disclosure. The system 100 can include an X-rayscanner 102, configured to receive and scan a succession of baggageitems, of which baggage item 104 visible in FIG. 1 is one example. In anaspect, baggage items 104 can be carried through the system 100 withinPCF baggage transport bins according to various embodiments, such as theexample PCF baggage transport bin 106. In accordance with variousembodiments, the PCF baggage transport bin 106 includes machine visiondetectable reference axis markings, indicative of mutually orthogonalspatial reference axes. In accordance with various embodiments, themutually orthogonal spatial reference axe can be used, e.g., by theX-ray scanner, to define co-ordinates of the three-dimensional spacewithin the PCF baggage transport bin 106. The reference axis markingscan include a first reference axis marking, such as the example “X”reference axis marking extending parallel to an “X” axis, a secondreference axis marking, such as the example “Y” reference axis markingextending parallel to an “Y” axis, which is orthogonal to the first or Xreference axis, and can include a third reference axis marking, such asthe example “Z” reference axis extending parallel to an “Z” axis, whichis orthogonal to the first or X reference axis and orthogonal to thesecond or Y reference axis.

Associated with the X-ray scanner 102 can be a scan analyzer 108, whichcan be configured to perform image construction, e.g., conversion toscan data and to a pixel image, of X-ray energy received after passingthrough the baggage item, and to perform analysis on scan data output bythe X-ray scanner 102. Connected to the scan analyzer 108 and, in anaspect, to the X-ray scanner 102, can be a scan interpreter 109. Thescan analyzer 108 and scan interpreter 109 can be configured to generatean OOI map for baggage items 104 in which one or more OOIs is detected.In various embodiments, the OOI map can define geometric positions ofthe OOIs in terms of the orthogonal X, Y, and Z spatial reference axesof the PCF baggage transport bin 106. The geometric position can includea first reference axis position, a second reference axis position, and athird reference axis position, meaning the OOI geometric position alongthe first reference axis X, along the second reference axis Y, and alongthe third reference axis Z, respectively.

In various embodiments, system 100 includes a robotic baggage itemopening and inspection apparatus 110, which can include a firstarticulated robotic arm 112 and a second articulated robotic arm 114.The system 100 can include a robotic controller 116 communicativelyconnected to both the first articulated robotic arm 112 and the secondarticulated robotic arm 114. The robotic controller 116 can connect toadditional articulated robotic arms, if included. Benefits of multiplearticulated robotic arms, e.g., the first articulated robotic arm 112and second articulated robotic arm 114, include capability ofrespectively different structures, specialized to a degree that may beimpractical for a single, multi-purpose arm. For example, the firstarticulated robotic arm 112 can feature a first gripper 118, withstructure particularized to opening one or more types of baggage itemopen-close mechanisms. The second articulated robotic arm 114 canfeature a second gripper 120, with a structure particularized, forexample, to swabbing surfaces of OOIs. Two is not a limitation on thenumber of articulated robotic arms in implementations of the roboticbaggage item opening and inspection apparatus 110. Also, implementationsof the robotic baggage item opening and inspection apparatus 110 caninclude a single articulated robotic arm.

The robotic baggage item opening and inspection apparatus 110 can beconfigured in reference to a local reference frame, such as the examplelabeled X′, Y′, Z′ The example local reference frame can include a firstlocal reference axis, X′, a second local reference axis, Y′, and a thirdlocal reference axis, Z′. In various embodiments, the second localreference axis Y′ can be orthogonal to the first local reference axisX′, and the third local reference axis Z′ can be orthogonal to the firstlocal reference axis X′ and orthogonal to the second local referenceaxis Y′. Translating geometric positions of OOIs from positions providedin the reference frame X, Y, Z, to the local spatial reference frame X′,Y′, Z′ can be based at least in part on the machine vision detection,e.g., via the machine vision camera 222, of an orientation of the X, Y,Z, spatial reference frame marking relative to the X′, Y′, Z′, localspatial reference frame.

In an embodiment, the robotic baggage item opening and inspectionapparatus 110 can include one or more machine-vision cameras. FIG. 1shows, as one configuration of machine vision cameras, a first machinevision camera 122, movably attached or mounted to the first articulatedrobotic arm 112, and a second machine vision camera 125, movablyattached or mounted to the second articulated robotic arm 114. Themovable attachments or mounts can include pivoting attachments, whichcan provide respective rotations about respective attachment axis, orabout a plurality attachment axes. The FIG. 1 visible configuration ofthe first machine vision camera 122 and second machine vision camera 124is only an example. In a further embodiment, a larger population ofmachine vision cameras can be included. In such an embodiment, dependingon the population of the machine vision cameras, some may be fixedmounted,

The robotic baggage item opening and inspection apparatus 110 caninclude an Explosive Trace Detection (ETD) device 126. The ETD device126 can be, for example an Amplifying Fluorescent Polymer (AFP) device,an Ion Mobility Spectrometer (IMS), or a Surface-enhanced Ramanspectroscopy (SERS) device.

The system 100 can include an alarm-switched baggage conveyor 128.According to various embodiments, the alarm-switched baggage conveyor128 can be configured to switch, dependent on whether an OOI detectionalarm is generated, e.g., by the scan analyzer 108 or scan interpreter109, between conveying the baggage item on a first path 130, which canbe a path for conveying the PCF baggage transport bin 106 when thecarried baggage item 104 is not indicated by the electromagnetic scan ashaving OOIs in its content, and a second path 132 which can be a pathfor conveying the PCF baggage transport bin 106 when the carried baggageitem 104 is indicated by the electromagnetic scan as having OOIs in itscontent. The first path 130 can be referenced, for example, as anon-alarm baggage transport path 130. The second path 132 can bereferenced, for example, as an alarm resolution baggage transport path132. In an example implementation, the second path can deliver the PCFbaggage transport bin 106 and the baggage item 104, to the roboticinspection area ARA. The non-alarm baggage transport path 130 candeliver the baggage item to a cleared baggage pick-up area, such as theexample labeled DBA. The cleared baggage pick-up area, e.g., CBA, can befor traveler pick-up or loading onto an airplane.

The alarm-switched baggage conveyor 128 can include a baggage firstconveyor 134, which can have one end proximal to an exit from the X-rayscanner 102 and another end proximal to switchable path diverter 136.The switchable path diverter 136 can be controlled, e.g., by a baggagetransport path selector logic 138, based on an OOI detection alarmoutput, for example, from the scan interpreter 109. The alarm-switchedbaggage conveyor 128 can include a baggage second conveyor 140, whichcan have one end proximal to the switchable path diverter 136 andanother end proximal to the cleared baggage pick-up area. Thealarm-switched baggage conveyor 128 can further include a baggage thirdconveyor 142, which can have one end proximal to the switchable pathdiverter 136 and another end proximal to the robotic inspection areaARA. The system 100 can further include a baggage scan input conveyor144, feeding the X-ray scanner 102.

Respective implementations of the first articulated robotic arm 112 andof the second articulated robotic arm 114 may have structuraldifferences from one another. For brevity, a generic 6-degreefreedom-of-motion, articulated robotic arm 202 is shown by FIG. 2 ,connected to the robotic controller 116. Described features ofarticulated robotic arm 202 can be readily adapted or incorporated intorespective implementations of the first articulated robotic arm 112 andof the second articulated robotic arm 114. The 6 degrees will bereferenced in later description of operations performed by the firstarticulated robotic arm 112, e.g., opening a baggage item 104 zipper,and description of operations performed by the second articulatedrobotic arm 114, e.g., accessing and swabbing an OOI within a baggageitem.

The articulated robotic arm 202 can include an arm base 204 that cansupport a first axis pivoting mount 206 configured to pivot about afirst rotation axis AX1. For purposes of description the AX1 axis can beassumed normal to the X′-Y′ plane of the articulated robotic arm 202local X′, Y′, Z′ reference frame. Mounted on the first axis pivotingmount 206 can be a second axis pivot 208, configured to pivot about asecond axis AX2. The second axis AX2 can extend normal to the first axisAX1, i.e., parallel to the X′-Y′ plane of the articulated robotic arm202 local X′, Y′, Z′ reference frame. The proximal end of an arm firstmember 210 can connect to the second axis pivot 208 and, at the distalend of the arm first member 210 can be a third axis AX3 pivot 212. Thethird axis AX3 can extend parallel to the second axis AX2. A proximalend of an arm second member 214 can connect to the third axis AX3 pivot212 and, at a distal end of the arm second remember 214 a fourth axisAX4 rotatable pivot can attach to a fifth axis AX5 pivot 216. The fourthaxis AX4 can be a longitudinal axis of the arm second member 214. Agripper 218 can connect, via sixth axis AX6 pivot 220, to the fifth axisAX5 pivot 216. A machine vision camera 222 can connect, e.g., by apivoting mount, to the arm second member 214.

The robotic controller 116 can be configured to control the articulatedrobotic arm based at least in part on a translating the OOI geometricposition information to a translated OOI geometric position map. Thetranslating can be based at least in part on the machine visiondetection, e.g., via the machine vision camera 223 of an orientation ofthe X, Y, Z, spatial reference frame marking relative to the X′, Y′, Z′,local spatial reference frame, which is local to the robotic baggageitem opening and inspection apparatus 110.

Also visible in FIG. 2 is an instance of baggage item 104 within PCFbaggage transport bin 106. The PCF baggage transport bin 106 showsmachine vision detectable reference axis X, Y, and Z. Within the PCFbaggage transport bin 106 are two example OOIs—a first OOI 203-1 and asecond OOI 203-2 (collectively referred to as “OOIs 203”). In processesaccording to one or more embodiments, in association with the FIG. 2 PCFbaggage transport bin 106 carrying the baggage item 104 with the OOIs203 being conveyed to the robotic inspection area, the roboticcontroller 116 will receive a content OOI map from the scan analyzer 108and scan interpreter 109. The OOI map defines the respective locationsof the first OOI 203-1 and second OOI 203-2 in terms of themachine-readable X, Y, and Z spatial reference axes of the PCF baggagetransport bin 106. The robotic controller 116, in response, cantranslate the machine-readable X, Y, and Z reference axis to the localspatial reference frame X′, Y′, and Z′, and then translate the OOI mapinto a translated OOI map, which defines the first OOI 203-1 and secondOOI 203-2 locations as X′, Y′, and Z′ coordinates.

The configuration of the gripper 218 is visible as a pincer gripper. Itwill be understood that the pincer configuration of the gripper 218 isonly one example configuration. Another configuration can include, forexample, an articulated robotic hand.

FIG. 3A shows a robotic arm starting position, and example axes ofmovement for a robotic opening of a baggage item zipper. Region A is anenlarged view of the zipper pull 302 and zipper slide 304, the zipperslide 304 engaging the zipper teeth 306 of the FIG. 3A baggage itemzipper. FIG. 3B is a diagram of a translational and rotational movementof the gripper of the first gripper 118 of the first articulated roboticarm 112 opening the example baggage item zipper. FIG. 3C shows acompletion position of the robotic arm, in the robotic opening of thebaggage item zipper, in a process for robotic resolution of scan alarmin accordance with this disclosure.

Referring to the enlarged Region A of FIG. 3A, movement of the zipperslide 304 in the OPN direction progressively disengages the zipper teeth306, from their respective interlocked or engaged arrangement 308 toseparate into their respective open arrangement 310.

FIG. 4 shows a flow diagram of robotic process 400 on the FIG. 1 system,including scan alarm triggered transport of baggage item 104 withinexample PCF baggage transport bin 106. One example instance of therobotic process 400 will be described assuming no OOI in the baggageitem 104. The instance can commence by receiving 402 and X-ray scanning404 the baggage item 104 within PCF baggage transport bin 106. Therobotic process 400 can then apply, e.g., using the FIG. 1 scan analyzer108 and scan interpreter 109, an analysis 406 to a result of the X-rayscanning 404. Since the example baggage item 104 does not include an OOIthere is no alarm and, therefore, the decision block controls the FIG. 1alarm-switched baggage conveyor 128 to transport 410 the PCF baggagetransport bin 106 and baggage item 104 to the cleared baggage pick-uparea.

An instance of the robotic process 400 will now be described assuming anexample OOI 401 in the baggage item 104. The receiving 402 and X-rayscanning 404 can proceed as described above, except that the analysis406, e.g., by operations of the FIG. 1 scan analyzer 108 and scaninterpreter 109, detects the presence and location of the OOI 401, andgenerates an alarm. The analysis 406 also generates a corresponding OOImap indicating the OOI location in terms of the X, Y, Z machine-readablespatial reference axes of the PCF baggage transport bin 106. The roboticprocess 400 then, as indicated by the “Yes” outflow from decision block408, proceeds to communicate 412 the X, Y, Z OOI map to the roboticcontroller 116, and then to transport 414 the baggage item 104 in itsPCF baggage transport bin 106 to the robotic alarm resolution inspectionarea. Referring to FIG. 1 , operations in the transport 414 can includethe baggage transport path selector logic 138 controlling thealarm-switched baggage conveyor 128 to urge the PCF baggage transportbin 106 from the output end of the baggage first conveyor 134 to aninput end of the baggage third conveyor 142.

Upon the transport 414 delivering the baggage item 104 in the PCFbaggage transport bin 106 to the robotic inspection area, the roboticprocess 400 can proceed to robotic opening 416 the zipper of the baggageitem 104. Operations in the robotic opening 416 can be as describedabove in reference to FIGS. 3A, 3B, and 3C. Upon completing the roboticopening 416, the robotic process 400 can proceed to robotic accessingand swiping 418 a surface of the OOI with a swab. The robotic process400 can then proceed to robotic inserting 420 the swab into an ETDdevice, such as the ETD device 126 shown in the FIG. 1 system 100.Operations succeeding the robotic inserting 420 of the swab into the ETDdevice depend on the result of ETD analysis. If the result from the ETDdevice is “pass,” i.e., no detection of explosive trace the roboticprocess 400 can proceed, as indicated by the “yes” outflow of decisionblock 422, to transport 424 the baggage item 104 to the cleared baggagepick-up area CBA. If the result from the ETD is “not pass,” i.e., anindication of explosive trace, the robotic process 400 can proceed, asindicated by the “no” outflow of decision block 422, to notification 426of a special intervention, e.g., by appropriate security personnel.

FIG. 5 shows a flow diagram of operations in one robotic opening process500 for opening a zipper, in a process of robotic alarm resolution inaccordance with this disclosure. Examples of various operations in therobotic opening process 500 are described with references to the FIG. 1system 100. The references to FIG. 1 are for convenience and to focusdescription on process and flow aspects, without potential ofobfuscation through detailed description of another environment. Thereferences are not to be understood as a limiting of practices accordingto this disclosure to the embodiment shown in FIG. 1 .

An iteration through the robotic opening process 500 will be described.The description assumes a subject baggage item 104 containing one ormore OOIs has been scanned by the X-ray scanner 102, the scan analyzer108 performed image reconstruction from the corresponding scan data, thescan interpreter 109 detected from the image reconstruction, or the scandata, or both, likely presence of the OOIs, and generated an alarm.Description assumes the alarm-switched path baggage transport 128, inresponse to the alarm, temporarily switched from the first path 130 tothe second path 132, transporting the subject baggage item 104 to therobotic baggage item opening and inspection apparatus 110. Descriptionalso assumes that robotic arm and gripper operations in the process areperformed by the first articulated robotic arm 112 and first gripper118, under control of the robotic controller 116, using the firstmachine vision camera 122.

The robotic opening process 500 can be implemented, for example, by therobotic controller 116 generating and feeding a sequence of roboticopening instructions to the first articulated robotic arm 112 and firstgripper 118. The sequence of robotic opening instructions can includeinstructions configured to cause the first articulated robotic arm 112and first gripper 118, in combination with the robotic controller logic116 to perform robotic identifying 502 of particular physicalcharacteristics of the zipper of the subject baggage item 104.Operations in the robotic identifying 502 can include, for example, therobotic controller 116 receiving an image of the zipper from the firstmachine vision camera 122, and then applying to the image an analysisalgorithms. The one or more image analysis algorithm can be particularlyconfigured to detect, e.g., by robotic identifying 502, zippercharacteristics that may be determinative of specific graspingoperations. The image analysis programs may include, for initialidentification of the zipper, a convolution neural net (CNN) program,such as, but not limited to, YOLO (“you only look once”), which can beobtained, for example, from GitHub, 88 Colin P Kelly Jr St, SanFrancisco Calif.

The robotic opening process 500 then proceeds from robotic identifying502 such zipper characteristics to a robotic grasping 504 by a gripper,e.g., the first gripper 118, of the zipper pull 302. The robotic openingprocess 500 can then proceed to the gripper applying an initial pulling506 of the zipper slide 304, via the zipper pull 302, using theabove-described initiating or commencement force. Substantiallyconcurrent with the initial pulling 506, the robotic controller 116 canperform a confirming 508 of the requisite initial movement of the zipperslide 304. If the confirming 508 indicates a positive movement, therobotic opening process 500 can proceed to a continuing pulling 510 ofthe zipper slide 304, e.g., by the first gripper 118. The continuingpulling 510 can apply a pulling force, having a magnitude and adirection, as controlled by the robotic controller 116, that targetsmovement of the zipper slide 304 to a zipper path, e.g., the FIG. 3Bzipper path UZP. In an implementation, the gripper, e.g., the firstgripper 118, can include pressure sensors, and the robotic controller116 can be configured to receive the pressure sensor data and use saiddata in guiding the continuing pulling 510.

If the confirming 508 does not indicate positive movement, i.e., thezipper slide 304 appears to be stuck, the robotic opening process 500can proceed to operations by the gripper for unsticking 512 the zipperslide 304. Example operations in the unsticking 512 can include therobotic controller 116 adjusting force magnitude or force direction, orboth. Operations in the unsticking 512 can include back and forthmovement, parallel the opening direction OPN.

Referring again to the continuing pulling 510, the robotic openingprocess 500 can include monitoring 514, e.g., by the robotic controller116, the zipper slide 304 movement. The monitoring 514 can include, forexample, the robotic controller 116 receiving image data from the firstmachine vision camera 122. The monitoring 514 can also receive data frompressure sensors in the first gripper 118.

In an embodiment, the continuing pulling 510 and the monitoring 514 bythe robotic controller 116 can continue until detecting 516 that thezipper is open, or the monitoring 514 detecting an undesired event orcondition in the zipper slide 304 movement, whichever occurs first. Ifdetecting 516 the zipper being open occurs first, the robotic openingprocess 500 can proceed 518 to a robotic access and swabbing of the oneor more OOIs. An example of a process in a robotic access and swabbingof one or more OOIs is described in further detail in reference to FIG.6 .

If the monitoring 514, e.g., by the robotic controller 116, detects anundesired event or condition in the zipper slide 304, before thedetecting 516 that the zipper is open, the robotic opening process 500can proceed to the robotic controller 116 updating 520 the gripperforce, in magnitude, or direction, or both. The updating 520 can includean unsticking process, such as described in reference to the unsticking512.

FIG. 6 shows a flow diagram of operations in a robotic accessing andswabbing process 600 of accessing and swabbing one or more OOIs in analarm triggering baggage item, such as the above described subjectbaggage item 104 and submitting the swabs to an ETD. The roboticaccessing and swabbing process 600 can be in a robotic resolution ofscan alarms in accordance with this disclosure.

The robotic accessing and swabbing process 600 can include a receiving602, by the robotic controller 116, of an OOI geometry map from the scananalyzer 108. The OOI geometry map indicates the 3D geometric positionsof the one or more OOIs in the subject baggage item 104, within the X,Y, Z reference frame established by the PCF baggage transport bin 106 inwhich the subject baggage item 104 was scanned and transported to theX-ray scanner 102. The robotic accessing and swabbing process 600 thenproceeds to a reading 604, within the robotic reference axes X′, Y′, Z′,of the bin 106 visible reference axis markings for X, Y, and Z. The PCFbaggage transport bin 106 visible reference axis markings, as describedabove in reference to FIG. 2 , show the spatial reference axes used bythe X-ray scanner 102 and the scan analyzer 108 in generating the OOIgeometry map for the subject baggage item 104. From the reading 604 therobotic accessing and swabbing process 600 can proceed to determiningthe orientation of the bin 106 visible reference axis marking for X, Y,and Z relative to the robotic reference axes X′, Y′, Z′, for translating606, e.g., by the robotic controller 116, of the OOI geometry map to atranslated OOI map in the robotic reference axes X′, Y′, and Z′. Thetranslating 606 can include, based on the determined orientation, aprojection or a resolving of the X, Y, Z reference axis markings of bin106 into the robotic reference axes X′, Y′, and Z′ From the translating606, the robotic accessing and swabbing process 600 can proceed toinitializing 608 an iteration counter of n to n=1.

The robotic accessing and swabbing process 600 can proceed from theinitializing 608 to a positioning 610 of the gripper, e.g., the gripper218 or the FIG. 1 second gripper 120, to a position above the X′-Y′location of the n^(th) OOI. From the elevated position, the roboticaccessing and swabbing process 600 can determine 612 whether the n^(th)OOI appears exposed or appears occluded by a baggage content. Thedetermining 612 can be performed, for example, by the robotic controller116, using the second machine vision camera 124 to view an interior ofthe baggage item 104. If the determining 612 is that the n^(th) OOIappears occluded by a baggage content, for example, an overlayingcontent, the robotic accessing and swabbing process 600 can proceed to acontent moving 614 operation. The content moving 614 can includegrasping, lifting, and repositioning of the overlaying content, forexample, by the gripper 218 in combination with movements of thearticulated robotic alarm. The grasping, lifting, and repositioningoperations in the content moving 614 can include a task limit logic,which can be configured as a time duration limit, an iteration limit, orboth. In an aspect, the robotic process 600 can include in the contentmoving operation 614 a task termination or escape procedure should thecontent moving 614 exceed the task limit. In various embodiments, thetask termination or escape procedure can include, for example, ageneration of an alert for a manual intervention. Embodiments caninclude an adaptation of the alarm-switched baggage conveyor 128 that,in response to the above-described task termination or escape, canconvey the subject baggage item to another location, e.g., for disposal.

Upon the n^(th) OOI appearing visible, e.g., prior to exceeding theabove-described task limit, the robotic accessing and swabbing process600 can proceed to causing the gripper, e.g., the second gripper 120,swiping 616 a swab on an exterior surface of the n^(th) OOI. Uponcompletion of the gripper swiping 616 the swab on an exterior surface ofthe n^(th) OOI, the robotic accessing and swabbing process 600 canproceed to the gripper inserting 618 the swab into an ETD machine, e.g.,the FIG. 1 ETD device 126. If the ETD machine returns at 620 a positiveresult, the robotic accessing and swabbing process 600 can proceed toissuing 622 a notice for special intervention. If the ETD machinereturns at 620 a negative result. the robotic accessing and swabbingprocess 600 can proceed to determine 624 whether the swipe counter indexn is equal to N. In other words, the process determination 624determines whether there are any not-yet-swiped OOIs on the OOI map. Ifthe determination 624 is “No,” i.e., there are not-yet-swiped OOIs onthe OOI map, the robotic accessing and swabbing process 600 can proceedto incrementing 626 the loop counter n by integer 1, then to positioning610 of the gripper, e.g., the gripper 218 or the FIG. 1 second gripper120, to a position above the X′-Y′ location of n+1^(th) OOI.

If the determination 624 is “Yes,” the swipe counter index n is equal toN, none of the N OOIs produced a positive swab result. Accordingly, therobotic accessing and swabbing process 600 can proceed to transporting628 the subject baggage item 104 to the cleared baggage pick-up areaCBA.

FIG. 7 shows a functional block diagram of one alternative embodiment700 of a system (hereinafter “system 700) for robotic resolution ofbaggage scanning alarm in accordance with this disclosure. The system700 is shown as a modification of the system 100, which supplements thefirst articulated robotic arm 112 with a non-robotic baggage item openerattendant 702, e.g., a security personnel.

Computer System

FIG. 8 illustrates, in simplified schematic form, a computing system 800on which aspects of the present disclosure can be practiced. Thecomputer system 800 can include a hardware processor 802 communicativelycoupled to an instruction memory 804 and to a data memory 806 by a bus808. The instruction memory 804 can be configured to store, on at leasta non-transitory computer readable medium as described in further detailbelow, executable program code 810. The hardware processor 802 mayinclude multiple hardware processors and/or multiple processor cores.The hardware processor 802 may include hardware processors fromdifferent devices, that cooperate. The computer system 800 system mayexecute one or more basic instructions included in the executableprogram code 810.

Relationship Between Hardware Processor and Executable Program Code

The relationship between the executable program code 810 and thehardware processor 802 is structural; the executable program code 810 isprovided to the hardware processor 802 by imparting various voltages atcertain times across certain electrical connections, in accordance withbinary values in the executable program code 810, to cause the hardwareprocessor to perform some action, as now explained in more detail.

A hardware processor 802 may be thought of as a complex electricalcircuit that is configured to perform a predefined set of basicoperations in response to receiving a corresponding basic instructionselected from a predefined native instruction set of codes.

The predefined native instruction set of codes is specific to thehardware processor; the design of the processor defines the collectionof basic instructions to which the processor will respond, and thiscollection forms the predefined native instruction set of codes.

A basic instruction may be represented numerically as a series of binaryvalues, in which case it may be referred to as a machine code. Theseries of binary values may be represented electrically, as inputs tothe hardware processor, via electrical connections, using voltages thatrepresent either a binary zero or a binary one. These voltages areinterpreted as such by the hardware processor.

Executable program code may therefore be understood to be a set ofmachine codes selected from the predefined native instruction set ofcodes. A given set of machine codes may be understood, generally, toconstitute a module. A set of one or more modules may be understood toconstitute an application program or “app.” An app may interact with thehardware processor directly or indirectly via an operating system. Anapp may be part of an operating system.

Computer Program Product

A computer program product is an article of manufacture that has acomputer-readable medium with executable program code that is adapted toenable a processing system to perform various operations and actions.

A computer-readable medium may be transitory or non-transitory.

A transitory computer-readable medium may be thought of as a conduit bywhich executable program code may be provided to a computer system, ashort-term storage that may not use the data it holds other than to passit on.

The buffers of transmitters and receivers that briefly store onlyportions of executable program code when being downloaded over theInternet is one example of a transitory computer-readable medium. Acarrier signal or radio frequency signal, in transit, that conveysportions of executable program code over the air or through cabling suchas fiber-optic cabling provides another example of a transitorycomputer-readable medium. Transitory computer-readable media conveyparts of executable program code on the move, typically holding it longenough to just pass it on.

Non-transitory computer-readable media may be understood as a storagefor the executable program code. Whereas a transitory computer-readablemedium holds executable program code on the move, a non-transitorycomputer-readable medium is meant to hold executable program code atrest. Non-transitory computer-readable media may hold the software inits entirety, and for longer duration, compared to transitorycomputer-readable media that holds only a portion of the software andfor a relatively short time. The term, “non-transitory computer-readablemedium,” specifically excludes communication signals such as radiofrequency signals in transit.

The following forms of storage exemplify non-transitorycomputer-readable media: removable storage such as a universal serialbus (USB) disk, a USB stick, a flash disk, a flash drive, a thumb drive,an external solid-state storage device (SSD), a compact flash card, asecure digital (SD) card, a diskette, a tape, a compact disc, an opticaldisc; secondary storage such as an internal hard drive, an internal SSD,internal flash memory, internal non-volatile memory, internal dynamicrandom-access memory (DRAM), read-only memory (ROM), random-accessmemory (RAM), and the like; and the primary storage of a computersystem.

Different terms may be used to express the relationship betweenexecutable program code and non-transitory computer-readable media.Executable program code may be written on a disc, embodied in anapplication-specific integrated circuit, stored in a memory chip, orloaded in a cache memory, for example. Herein, the executable programcode may be said, generally, to be “in” or “on” a computer-readablemedia. Conversely, the computer-readable media may be said to store, toinclude, to hold, or to have the executable program code.

Creation of Executable Program Code

Software source code may be understood to be a human-readable,high-level representation of logical operations. Statements written inthe C programming language provide an example of software source code.

Software source code, while sometimes colloquially described as aprogram or as code, is different from executable program code. Softwaresource code may be processed, through compilation for example, to yieldexecutable program code. The process that yields the executable programcode varies with the hardware processor; software source code meant toyield executable program code to run on one hardware processor made byone manufacturer, for example, will be processed differently than foranother hardware processor made by another manufacturer.

The process of transforming software source code into executable programcode is known to those familiar with this technical field as compilationor interpretation and is not the subject of this application.

User Interface

A computer system may include a user interface controller under controlof the processing system that displays a user interface in accordancewith a user interface module, i.e., a set of machine codes stored in thememory and selected from the predefined native instruction set of codesof the hardware processor, adapted to operate with the user interfacecontroller to implement a user interface on a display device. Examplesof a display device include a television, a projector, a computerdisplay, a laptop display, a tablet display, a smartphone display, asmart television display, or the like.

The user interface may facilitate the collection of inputs from a user.The user interface may be graphical user interface with one or more userinterface objects such as display objects and user activatable objects.The user interface may also have a touch interface that detects inputwhen a user touches a display device.

A display object of a user interface may display information to theuser. A user activatable object may allow the user to take some action.A display object and a user activatable object may be separate,collocated, overlapping, or nested one within another. Examples ofdisplay objects include lines, borders, text, images, or the like.Examples of user activatable objects include menus, buttons, toolbars,input boxes, widgets, and the like.

Communications

The various networks are illustrated throughout the drawings anddescribed in other locations throughout this disclosure, can compriseany suitable type of network such as the Internet or a wide variety ofother types of networks and combinations thereof. For example, thenetwork may include a wide area network (WAN), a local area network(LAN), a wireless network, an intranet, the Internet, a combinationthereof, and so on. Further, although a single network is shown, anetwork can be configured to include multiple networks.

CONCLUSION

For any computer-implemented embodiment, “means plus function” elementswill use the term “means;” the terms “logic” and “module” have themeaning ascribed to them above and are not to be construed as genericmeans. An interpretation under 35 U.S.C. § 112(f) is desired only wherethis description and/or the claims use specific terminology historicallyrecognized to invoke the benefit of interpretation, such as “means,” andthe structure corresponding to a recited function, to include theequivalents thereof, as permitted to the fullest extent of the law andthis written description, may include the disclosure, the accompanyingclaims, and the drawings, as they would be understood by one of skill inthe art.

To the extent the subject matter has been described in language specificto structural features or methodological steps, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or steps described. Rather,the specific features and steps are disclosed as example forms ofimplementing the claimed subject matter. To the extent headings areused, they are provided for the convenience of the reader and are not betaken as limiting or restricting the systems, techniques, approaches,methods, or devices to those appearing in any section. Rather, theteachings and disclosures herein can be combined or rearranged withother portions of this disclosure and the knowledge of one of ordinaryskill in the art. It is intended that this disclosure encompass andinclude such variation. The indication of any elements or steps as“optional” does not indicate that all other or any other elements orsteps are mandatory. The claims define the invention and form part ofthe specification. Limitations from the written description are not tobe read into the claims.

Certain attributes, functions, steps of methods, or sub-steps of methodsdescribed herein may be associated with physical structures orcomponents, such as a module of a physical device that, inimplementations in accordance with this disclosure, make use ofinstructions (e.g., computer executable instructions) that may beembodied in hardware, such as an application specific integratedcircuit, or that may cause a computer (e.g., a general-purpose computer)executing the instructions to have defined characteristics. There may bea combination of hardware and software such as processor implementingfirmware, software, and so forth so as to function as a special purposecomputer with the ascribed characteristics. For example, in embodimentsa module may comprise a functional hardware unit (such as aself-contained hardware or software or a combination thereof) designedto interface the other components of a system such as through use of anapplication programming interface (API). In embodiments, a module isstructured to perform a function or set of functions, such as inaccordance with a described algorithm. This disclosure may usenomenclature that associates a component or module with a function,purpose, step, or sub-step to identify the corresponding structurewhich, in instances, includes hardware and/or software that function fora specific purpose. For any computer-implemented embodiment, “means plusfunction” elements will use the term “means;” the terms “logic” and“module” and the like have the meaning ascribed to them above, if any,and are not to be construed as means.

While certain implementations have been described, these implementationshave been presented by way of example only and are not intended to limitthe scope of this disclosure. The novel devices, systems and methodsdescribed herein may be embodied in a variety of other forms;furthermore, various omissions, substitutions, and changes in the formof the devices, systems and methods described herein may be made withoutdeparting from the spirit of this disclosure.

What is claimed:
 1. A robotic baggage item opening and inspectionapparatus, comprising: a plurality of articulated robotic arms includinga first articulated robotic arm configured to open baggage items and asecond articulated robotic arm configured to swab surfaces of Objects OfInterest (OOIs); and a robotic controller, connected to the plurality ofarticulated robotic arms, configured to control the plurality ofarticulated robotic arms; the robotic baggage item opening andinspection apparatus configured to perform, responsive to receiving abaggage item and a transport bin including a spatial reference framemarking in combination with an object-of-interest (OOI) geometricposition information, indicating a geometric position of an OOI,relative to the spatial reference frame marking: a robotic openingoperation to the baggage item, and upon a positive result of the roboticopening operation, to perform: a robotic accessing and swabbingoperation directed to the OOI, based at least in part on a combinationof the OOI geometric position information and a machine vision detectionof the spatial reference frame marking.
 2. The robotic baggage itemopening and inspection apparatus of claim 1, wherein: the roboticcontroller is configured to control the plurality of articulated roboticarms based at least in part on a translating the OOI geometric positioninformation to a translated OOI geometric position map, the translatingbeing based at least in part on the machine vision detection of anorientation of the spatial reference frame marking relative to a localspatial reference frame, which is local to the robotic baggage itemopening and inspection apparatus.
 3. The robotic baggage item openingand inspection apparatus of claim 2, further comprising: the roboticcontroller being further configured to perform the robotic openingoperation with a configuration for opening a zipper of the baggage item;a machine vision camera, communicatively coupled to the roboticcontroller, and configured to generate an image of the zipper; the firstarticulated robotic arm being configured to include a gripper withstructure particularized to opening one or more types of baggage itemopen-close mechanisms; and the robotic controller being configured toreceive the image of the zipper, identify from the image of the zipper azipper slide and a zipper pull, and in response, to cause the gripper toapply a pulling force to the zipper slide, in an opening direction ofthe zipper, using the zipper pull.
 4. The robotic baggage item openingand inspection apparatus of claim 3, further comprising: the roboticcontroller being further configured to perform, based at least in parton the image from the machine vision camera, a confirming of a positivemovement of the zipper slide in response the pulling force, and inresponse to the confirming not indicating the positive movement, tocause the gripper to apply an unsticking, the unsticking including aback and forth movement, parallel the opening direction of the zipper.5. The robotic baggage item opening and inspection apparatus of claim 2,further comprising: the first articulated robotic arm being configuredto include a first gripper with structure particularized to opening oneor more types of baggage item open-close mechanisms; the secondarticulated robotic arm being configured to include a second gripperwith structure particularized to swabbing surfaces of OOIs; the roboticcontroller being further configured to perform the robotic openingoperation with a configuration for opening a zipper of the baggage item;a machine vision camera, communicatively coupled to the roboticcontroller, and configured to generate an image, upon a completion ofthe robotic opening of the baggage item and during the robotic accessingand swabbing operation, of an interior of the baggage item; and therobotic controller being further configured to control the plurality ofarticulated robotic arms, in the robotic accessing and swabbingoperation, to: initially position at least one of the first gripper andthe second gripper, based at least in part on the translating the OOIgeometric position information to the translated OOI geometric positionmap, to an elevated position, the elevated position being elevated aboveand aligned with the OOI, and determine, based at least in part on theimage, whether the OOI appears exposed or appears occluded by anoverlaying content and, responsive to determining that the OOI appearsoccluded by the overlaying content, to perform a robotic moving of theoverlaying content.
 6. The robotic baggage item opening and inspectionapparatus of claim 5, further comprising: monitoring the robotic movingof the overlaying content for exceeding a task limit and, in response todetecting the exceeding the task limit, to perform a task termination orescape procedure.
 7. The robotic baggage item opening and inspectionapparatus of claim 2, further comprising: the spatial reference framemarking including a first reference axis marking, a second referenceaxis marking, and a third reference axis marking, the first referenceaxis marking extending parallel to a first reference axis, the secondreference axis marking extending parallel to a second reference axis,the second reference axis being orthogonal to the first reference axis,and the third reference axis marking extending parallel to a thirdreference axis, the third reference axis being orthogonal to the firstreference axis and orthogonal to the second reference axis; a scananalyzer, configured to receive a scan data output from anelectromagnetic scanning and, based at least in part on the scan dataoutput, to generate the OOI geometric position information as an OOImap, the OOI map including a geometric position of an OOI, in terms of afirst reference axis position, a second reference axis position, and athird reference axis position; the local spatial reference frame beingconfigured to include a first local reference axis, a second localreference axis, and a third local reference axis, the second localreference axis being orthogonal to the first local reference axis, andthe third local reference axis being orthogonal to the first localreference axis and orthogonal to the second local reference axis; andthe robotic controller being further configured to further control theplurality of articulated robotic arms, in the robotic accessing andswabbing operation, based at least in part on a mapping of the firstreference axis position to a position on the first local reference axis,a mapping of the second reference axis position to a position on thesecond local reference axis, and a mapping of the third reference axisposition to a position on the third local reference axis.
 8. The roboticbaggage item opening and inspection apparatus of claim 2, furthercomprising: the robotic controller being further configured to controlthe second articulated robotic arm to perform a swabbing operation onthe OOI.
 9. The robotic baggage item opening and inspection apparatus ofclaim 1, further comprising: the robotic baggage item opening andinspection apparatus being arranged at a first area and configured tointerface with an alarm switched baggage conveyor; and the roboticbaggage item opening and inspection apparatus being configured to, inresponse to an indicator of a detection by electromagnetic scanning ofthe OOI within the baggage item, signal the alarm switched baggageconveyor to convey the transport bin to a second area, different fromthe first area.
 10. The robotic baggage item opening and inspectionapparatus of claim 1, wherein the robotic accessing and swabbingoperation further comprises: a swabbing operation on a plurality of OOIsusing a swab; and insertion of the swab to an explosive trace detection(ETD) system.
 11. The robotic baggage item opening and inspectionapparatus of claim 1, wherein the robotic accessing and swabbingoperation further comprises: a swabbing operation on the OOI using aswab; and upon a determination that there are no not-yet-swiped OOIs,insertion of the swab to an explosive trace detection (ETD) system. 12.A method for robotic arm resolution of baggage scanning alarm generatedby electromagnetic scanner, comprising: receiving, from anelectromagnetic scanning: a baggage item and an object-of-interest (OOI)geometric position information indicating a detected geometric position,by the electromagnetic scanning, of an object-of-interest (OOI) inreference to a spatial reference frame marking corresponding to amachine readable marking of a spatial reference frame; and in responseto the receiving: applying a robotic opening operation to the baggageitem, the robotic opening operation being configured for opening azipper of the baggage item, and being further configured to include:identifying, from machine vision imaging of the zipper, a zipper slideand a zipper pull, and applying, by a first gripper of a firstarticulated robotic arm configured to open baggage items, a pullingforce to the zipper slide, in an opening direction of the zipper, usingthe zipper pull, and upon a positive result of the robotic openingoperation: performing, by a second gripper of a second articulatedrobotic arm configured to swab surfaces of Objects Of Interest (OOIs), arobotic accessing and swabbing operation directed to the OOI.
 13. Themethod of claim 12 for robotic arm resolution of baggage scanning alarm,further comprising: receiving, from the electromagnetic scanning, thebaggage item carried in a transport bin that includes the spatialreference frame marking corresponding to the machine readable marking ofthe spatial reference frame; and in response to the receiving: machinevision detecting of the spatial reference frame marking, resolving thespatial reference frame marking into a local spatial reference frame,the local spatial reference frame being local to the robotic accessingand swabbing operation, translating the OOI geometric positioninformation to a local OOI geometric position map, based at least inpart on a result of the resolving, and performing the robotic accessingand swabbing operation directed to the OOI, based at least in part onthe local OOI geometric position map.
 14. The method of claim 12 forrobotic arm resolution of baggage scanning alarm, further comprising:confirming, from a continuing of the machine vision imaging of thezipper, a positive movement of the zipper slide in response the pullingforce, and in response to the confirming not indicating the positivemovement, applying by the first gripper an unsticking, the unstickingincluding a back and forth movement, parallel the opening direction ofthe zipper.
 15. The method of claim 13 for robotic arm resolution ofbaggage scanning alarm, further comprising: the robotic accessing andswabbing operation including: obtaining, upon a completion of therobotic opening operation, a machine vision imaging of an interior ofthe baggage item, initially positioning at least one of the firstgripper or the second gripper, based at least in part on the local OOIgeometric position map, to an elevated position, the elevated positionbeing elevated above and aligned with the OOI, and determining, based atleast in part on the machine vision imaging of the interior of thebaggage item, whether the OOI appears exposed or appears occluded by anoverlaying content and, responsive to determining that the OOI appearsoccluded by the overlaying content, performing a robotic moving of theoverlaying content.
 16. The method of claim 15 for robotic armresolution of baggage scanning alarm, further comprising: monitoring therobotic moving of the overlaying content for exceeding a task limit and,in response to detecting the exceeding the task limit, to perform a tasktermination or escape procedure.
 17. The method of claim 12 for roboticarm resolution of baggage scanning alarm, further comprising: thespatial reference frame marking including a first reference axismarking, a second reference axis marking, and a third reference axismarking, the first reference axis marking extending parallel to a firstreference axis, the second reference axis marking extending parallel toa second reference axis, the second reference axis being orthogonal tothe first reference axis, and the third reference axis marking extendingparallel to a third reference axis, the third reference axis beingorthogonal to the first reference axis and orthogonal to the secondreference axis; and analyzing a scan data output from theelectromagnetic scanning and, based at least in part on the scan dataoutput, generating the OOI geometric position information as an OOI map,the OOI map including a position of the OOI in terms of a firstreference axis position, a second reference axis position, and a thirdreference axis position.
 18. The method of claim 12 for robotic armresolution of baggage scanning alarm, wherein performing the roboticaccessing and swabbing operation comprises: performing, by the secondgripper, a swabbing operation on the OOI using a swab; and inserting theswab to an explosive trace detection (ETD) system.
 19. The method ofclaim 12 for robotic arm resolution of baggage scanning alarm, whereinperforming the robotic accessing and swabbing operation comprises:performing, by the second gripper, a swabbing operation on a pluralityof OOIs using a swab; and upon determining that there are nonot-yet-swiped OOIs, inserting the swab to an explosive trace detection(ETD) system.
 20. A system for robotic arm resolution of baggagescanning alarm generated by electromagnetic scanner, comprising: atransport bin, configured for carrying a baggage item, including aspatial reference frame marking disposed on the transport bin, thespatial reference frame marking being detectable by electromagneticscanning and by machine vision, and including: a first reference axismarking, a second reference axis marking, and a third reference axismarking, the first reference axis marking extending parallel to a firstreference axis, the second reference axis marking extending parallel toa second reference axis, the second reference axis being orthogonal tothe first reference axis, and the third reference axis marking extendingparallel to a third reference axis, the third reference axis beingorthogonal to the first reference axis and orthogonal to the secondreference axis; and a robotic baggage item opening and inspectionapparatus, comprising a robotic controller and a plurality ofarticulated robotic arms including a first articulated robotic armconfigured to open baggage items and a second articulated robotic armconfigured to swab surfaces of Objects Of Interest (OOIs); the roboticcontroller being connected to the plurality of articulated robotic armsand configured to control the plurality of articulated robotic arms.